CN108113844A - A kind of upper limb training device - Google Patents
A kind of upper limb training device Download PDFInfo
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- CN108113844A CN108113844A CN201611069947.3A CN201611069947A CN108113844A CN 108113844 A CN108113844 A CN 108113844A CN 201611069947 A CN201611069947 A CN 201611069947A CN 108113844 A CN108113844 A CN 108113844A
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- rotating mechanism
- synchronous pulley
- upper limb
- wrist
- shoulder
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 69
- 230000007246 mechanism Effects 0.000 claims abstract description 249
- 210000000707 wrist Anatomy 0.000 claims abstract description 49
- 210000000245 forearm Anatomy 0.000 claims abstract description 32
- 230000003028 elevating effect Effects 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims description 98
- 208000037873 arthrodesis Diseases 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of upper limb training devices.The upper limb training device includes：Pedestal, elevating mechanism, rotating mechanism and rehabilitation training of upper limbs mechanism；It is interconnected between the pedestal and elevating mechanism, and the relatively described elevating mechanism of the pedestal moves up and down；The elevating mechanism is connected with the rotating mechanism；The rehabilitation training of upper limbs mechanism is connected with the rotating mechanism, and the relatively described rotating mechanism of the rehabilitation training of upper limbs mechanism is rotatable；The rehabilitation training of upper limbs mechanism includes the shoulder rotating mechanism interconnected, and shoulder bends and stretches mechanism, large arm rotating mechanism, and ancon bends and stretches mechanism, forearm rotating mechanism, and wrist rotating mechanism and wrist bend and stretch mechanism.Upper limb training device provided by the invention can be realized individually to the rehabilitation exercise training in each joint at left and right sides of human upper limb.
Description
Technical field
The present invention relates to rehabilitation training fields, and in particular to a kind of upper limb training device.
Background technology
As Chinese population aging is serious, the disease incidences such as brain soldier that angiocardiopathy triggers on present society are continuous
It improves, the patient numbers such as apoplexy, hemiplegia persistently rise；And with the popularization of the vehicles, traffic accident causes limb injury
Crowd also expand year by year, the current whole nation has millions of patients to need limb rehabilitation training.Existing rehabilitation training of upper limbs dress
It puts and is broadly divided into exoskeleton-type and tail end traction type, be largely tail end traction type exercising apparatus for recovery of upper limb in Chinese market,
Mainly using plain connecting rod mechanism, device end is only connected with the hand of patient, by hand traction patient's upper limb is made to make movement,
This Degree of Structure Freedom is low, specific training to shoulder, elbow, wrist when each position of upper limbs, can introduce unwanted rehabilitation exercise or
Cause rehabilitation exercise that can not fully achieve, whole bad adaptability.And the existing dermaskeleton type upper limb rehabilitation device of China is free
Spend low, mechanism is complicated, and part is more and difficulty of processing is big, and efficiency is low, and adaptability is poor.
The content of the invention
It is contemplated that overcoming defect existing in the prior art, the present invention uses following technical scheme：
The present invention provides a kind of upper limb training devices.The upper limb training device includes：Pedestal, elevating mechanism, rotation
Mechanism and rehabilitation training of upper limbs mechanism；It is interconnected between the pedestal and elevating mechanism, and the relatively described lifting of the pedestal
Mechanism moves up and down；The elevating mechanism is connected with the rotating mechanism；The rehabilitation training of upper limbs mechanism and the whirler
Structure is connected, and the relatively described rotating mechanism of the rehabilitation training of upper limbs mechanism is rotatable；The rehabilitation training of upper limbs mechanism includes
The shoulder rotating mechanism of interconnection, shoulder bend and stretch mechanism, large arm rotating mechanism, and ancon bends and stretches mechanism, forearm rotating mechanism, wrist
Portion's rotating mechanism and wrist bend and stretch mechanism.
In some embodiments, it is synchronous with the first main synchronous pulley and first that driving device is provided on the pedestal
Band；First synchronous belt is arranged on the described first main synchronous pulley；The driving device drives the first main synchronous belt
Wheel rotates；The elevating mechanism includes：Crane, slideway and sliding block；The pedestal is connected with the crane；The slideway is set
It puts on crane；The sliding block is slidably disposed in the slideway, and the sliding block is fixed with first synchronous belt
Connection.
In some embodiments, the driving device is motor.
In some embodiments, the first driving that the driving rotating mechanism rotation is provided on the rotating mechanism is closed
Section, the rotating mechanism are connected with elevating mechanism by the first driving joint.
In some embodiments, the second driving joint and the second main synchronous pulley are provided on the shoulder rotating mechanism,
The shoulder rotating mechanism is connected with the rotating mechanism by the second driving arthrodesis.
In some embodiments, it is synchronous from synchronous pulley and second that second is additionally provided on the shoulder rotating mechanism
Band；Second synchronous belt is arranged on the described second main synchronous pulley and second from synchronous pulley；The shoulder bends and stretches mechanism
It is connected with the shoulder rotating mechanism by described second from synchronous pulley；The shoulder bends and stretches mechanism can be synchronous described second
It is rotated under the drive of band.
In some embodiments, the upper limb training device further includes large arm length adjustment mechanism, and the shoulder bends and stretches machine
Structure is connected with the large arm length adjustment mechanism；The shoulder, which is bent and stretched, is additionally provided with the 3rd driving joint, the 3rd master in mechanism
Synchronous pulley, the 3rd from synchronous pulley and the 3rd synchronous belt；The 3rd main synchronous pulley by the described 3rd driving joint into
Row driving；3rd synchronous belt is arranged on the 3rd main synchronous pulley and the 3rd from synchronous pulley；The big arm lengths
Adjusting mechanism bends and stretches mechanism with the shoulder and is connected by the 3rd from synchronous pulley；The large arm length adjustment mechanism can be described
It is rotated under the drive of 3rd synchronous belt.
In some embodiments, large arm swivel plate is provided on the large arm rotating mechanism, the large arm rotating mechanism leads to
The large arm swivel plate is crossed with the large arm length adjustment mechanism to be connected.
In some embodiments, the ancon bends and stretches and ancon upper junction plate is provided in mechanism, the 4th main synchronizing wheel, and the 4th
From synchronous pulley, the 4th synchronous belt, ancon lower connecting plate and the 5th driving joint；4th synchronous belt is arranged on described
Four main synchronizing wheels and the described 4th are on synchronous pulley；The 5th driving joint can drive the 4th synchronizing wheel to rotate；
The ancon bends and stretches mechanism and is connected with large arm rotating mechanism by the ancon upper junction plate；The ancon upper junction plate with it is described
4th is connected from synchronous pulley；Described 4th is fixedly connected from synchronous pulley with the ancon lower connecting plate.
In some embodiments, the upper limb training device further includes forearm lengths adjusting mechanism, the forearm rotating machine
Forearm swivel plate is provided on structure, the forearm lengths adjusting mechanism passes through forearm swivel plate phase with the forearm rotating mechanism
Even.
In some embodiments, the 7th driving joint and wrist connecting plate are provided on the wrist rotating mechanism, it is described
7th driving joint is mounted on the wrist connecting plate.
In some embodiments, the wrist, which is bent and stretched, is provided with the 8th driving joint, the wrist rotating mechanism in mechanism
Mechanism is bent and stretched with the wrist by the described 8th driving joint to be connected.
In some embodiments, the upper limb training device further includes hand length adjustment mechanism, and the wrist bends and stretches machine
Hand connecting plate and grip sensor are provided on structure；The hand length adjustment mechanism bends and stretches mechanism with the wrist and passes through hand
Portion's connecting plate is connected, and the grip sensor is connected with the hand length adjustment mechanism.
The technique effect of the present invention：Upper limb training device provided by the invention can be realized individually to human body when people sits up straight
The rehabilitation exercise training in each joint at left and right sides of upper limb, and can be into the adjusting of row position and distance.The upper limb training device
It is adaptable with multiple degrees of freedom, have a wide range of application, it is rational in infrastructure, it is efficient the features such as, can meet in the market to upper limb healing
The multiple degrees of freedom of training device, applied widely, training position is independent, the demands such as easy to adjust.
Description of the drawings
Fig. 1 is the structure diagram according to the upper limb training device of one embodiment of the invention；
Fig. 2 is the structure diagram according to the upper limb training institution of one embodiment of the invention；
Fig. 3 is that the structure of the elevating mechanism and rotating mechanism in the upper limb training device according to one embodiment of the invention is shown
It is intended to；
Fig. 4 bends and stretches mechanism for the shoulder rotating mechanism in the upper limb training device according to one embodiment of the invention and shoulder
Structure diagram；
Fig. 5 bends and stretches the structure diagram of mechanism for the ancon in the upper limb training device according to one embodiment of the invention；
Fig. 6 is the structure diagram of the wrist rotating mechanism in the upper limb training device according to one embodiment of the invention；
Fig. 7 bends and stretches the structure diagram of mechanism for the wrist in the upper limb training device according to one embodiment of the invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only explaining this hair
It is bright, without being construed as limiting the invention.
It is a kind of upper limb training device 100 provided by the invention with reference to shown in figure 1- Fig. 7.As shown in Figure 1, the upper limb
Training device 100 includes：Pedestal 1, elevating mechanism 2, rotating mechanism 3 and rehabilitation training of upper limbs mechanism 4；The pedestal 1 and lifting
It is interconnected between mechanism 2, and the relatively described elevating mechanism 2 of the pedestal 1 moves up and down；The elevating mechanism 2 and the rotation
Rotation mechanism 3 is connected；The rehabilitation training of upper limbs mechanism 4 is connected with the rotating mechanism 3, and the rehabilitation training of upper limbs mechanism 4
Relatively described rotating mechanism 3 is rotatable；The rehabilitation training of upper limbs mechanism 4 includes the shoulder rotating mechanism 8 interconnected, shoulder
Mechanism 9, large arm rotating mechanism 11 are bent and stretched, ancon bends and stretches mechanism 12, forearm rotating mechanism 13, and wrist rotating mechanism 15 and wrist are bent
Stretch mechanism 16.
In some embodiments, 25 and first main synchronous pulley 32 and first of driving device is provided on the pedestal 1
Synchronous belt 31；First synchronous belt 31 is arranged on the described first main synchronous pulley 32；The driving device 25 drives described
First main synchronous pulley 32 rotates；The elevating mechanism 2 includes：Crane 27, slideway 26 and sliding block；The pedestal 1 with it is described
Crane 27 is connected；The slideway 26 is arranged on crane 27；The sliding block 30 is slidably disposed in the slideway 26,
And the sliding block 30 is fixedly connected with first synchronous belt 31.
In some embodiments, the driving device 25 is motor.
In some embodiments, the first driving that the driving rotating mechanism 3 rotates is provided on the rotating mechanism 3 to close
Section 28, the rotating mechanism 3 are connected with elevating mechanism 2 by the first driving joint 28.
In some embodiments, the second driving joint 19 and the second main synchronous belt are provided on the shoulder rotating mechanism 8
Wheel 34, the shoulder rotating mechanism 8 are fixedly connected with the rotating mechanism 3 by the second driving joint 19.
In some embodiments, it is same from synchronous pulley 37 and second that second is additionally provided on the shoulder rotating mechanism 8
Walk band 36；Second synchronous belt 36 is arranged on the described second main synchronous pulley 34 and second from synchronous pulley 37；The shoulder
It bends and stretches mechanism 9 and is connected with the shoulder rotating mechanism 8 by described second from synchronous pulley 37 in portion；The shoulder bends and stretches mechanism 9
It can be rotated under the drive of second synchronous belt 36.
In some embodiments, the upper limb training device 100 further includes large arm length adjustment mechanism 10, and the shoulder is bent
Mechanism 9 is stretched with the large arm length adjustment mechanism 10 to be connected；The shoulder, which is bent and stretched, is additionally provided with the 3rd driving joint in mechanism 9
20, the 3rd main synchronous pulley 39, the 3rd from 41 and the 3rd synchronous belt 40 of synchronous pulley；The 3rd main synchronous pulley 39 is by institute
The 3rd driving joint 20 is stated to be driven；3rd synchronous belt 40 is arranged on the described 3rd main synchronous pulley 39 and the 3rd from same
It walks on belt wheel 41；The large arm length adjustment mechanism 10 bends and stretches mechanism 9 with the shoulder and is connected by the 3rd from synchronous pulley 41；
The large arm length adjustment mechanism 10 can rotate under the drive of the 3rd synchronous belt 40.
In some embodiments, large arm swivel plate 42, the large arm rotating machine are provided on the large arm rotating mechanism 11
Structure 11 is connected by the large arm swivel plate 42 with the large arm length adjustment mechanism 10.
In some embodiments, the ancon bends and stretches and ancon upper junction plate 44 is provided in mechanism 12, the 4th main synchronizing wheel
45, the 4th drives joint 53 from synchronous pulley 47, the 4th synchronous belt 46, ancon lower connecting plate 49 and the 5th；Described 4th is same
Step band 46 is arranged on the described 4th main synchronizing wheel 45 and the described 4th on synchronous pulley 47；The 5th driving joint 53 can
The 4th synchronizing wheel is driven to rotate；The ancon bends and stretches mechanism 12 and passes through the ancon upper junction plate with large arm rotating mechanism 11
44 are connected；The ancon upper junction plate 44 is connected with the described 4th from synchronous pulley 47；Described 4th from synchronous pulley 47 and institute
Ancon lower connecting plate 49 is stated to be fixedly connected.
In some embodiments, the upper limb training device 100 further includes forearm lengths adjusting mechanism 14, and the forearm turns
Forearm swivel plate 54 is provided on motivation structure 13, the forearm lengths adjusting mechanism 14 is with the forearm rotating mechanism 13 by small
Arm swivel plate 54 is connected.
In some embodiments, the 7th driving joint 23 and wrist connecting plate are provided on the wrist rotating mechanism 15
55, the 7th driving joint 23 is mounted on the wrist connecting plate 55.
In some embodiments, the wrist, which is bent and stretched, is provided with the 8th driving joint 24 in mechanism 16, the wrist rotates
Mechanism 15 bends and stretches mechanism 16 with the wrist and is connected by the described 8th driving joint 24.
In some embodiments, the upper limb training device 100 further includes hand length adjustment mechanism 17, and the wrist is bent
It stretches and hand connecting plate 57 and grip sensor 58 is provided in mechanism 16；The hand length adjustment mechanism 17 is bent with the wrist
It stretches mechanism 16 by hand connecting plate 57 to be connected, the grip sensor 58 is connected with the hand length adjustment mechanism 17.
Upper limb training device 100 provided in an embodiment of the present invention and specific implementation process and principle it is as follows：The pedestal 1
It is connected with elevating mechanism 2, the lower end of rotating mechanism 3 is connected with elevating mechanism 2, realizes and training at left and right sides of upper limb is turned
It changes, 8 one end of shoulder rotating mechanism in rehabilitation training of upper limbs mechanism 4 is fixedly connected with 3 upper end of rotating mechanism, and shoulder bends and stretches mechanism
9 are connected with 8 other end of shoulder rotating mechanism, and shoulder bends and stretches mechanism 9 and is connected with large arm length adjustment mechanism 10, and large arm rotates
Mechanism 11 is connected with large arm length adjustment mechanism 10, and ancon bends and stretches 12 one side of mechanism and is connected with large arm rotating mechanism 11, opposite side
Be connected with forearm rotating mechanism 13, forearm lengths adjusting mechanism 14 is connected with forearm rotating mechanism 13, wrist rotating mechanism 15 with
Forearm lengths adjusting mechanism 14 is connected, and wrist bends and stretches mechanism 16 and is connected with wrist rotating mechanism 15, hand length adjustment mechanism 17
Mechanism 16 is bent and stretched with wrist to be connected.As shown in figure 3, pedestal 1 is connected with elevating mechanism 2 by crane 27, slideway 26 is mounted on
On crane 27,30 and first synchronous belt 31 of sliding block of vertical and straight movement is connected on slideway 26, the driving of motor 25 first on pedestal 1
Main synchronous pulley 32 rotates, so as to 30 vertical sliding of movable slider, the function of 2 energy vertical and straight movement of completion elevating mechanism, whirler
Structure 3 is connected with elevating mechanism 2 by the first driving joint 28, and the first driving joint 28 drives rotating mechanism 3 to rotate, and completes to upper
Conversion at left and right sides of limb.As shown in figure 4, the shoulder rotating mechanism 8 in rehabilitation training of upper limbs mechanism 4 passes through with rotating mechanism 3
Second driving joint 19 is fixedly connected, and when rotating mechanism 3 rotates, shoulder rotating mechanism 8 also rotates therewith.Shoulder bends and stretches mechanism 9
It is connected with shoulder rotating mechanism 8 by second from synchronous pulley 37, the second driving joint 19 drives the second main 34 turns of synchronous pulley
It is dynamic, by the second synchronous belt 36 shoulder is made to bend and stretch mechanism 9 around second from 37 center rotating of synchronous pulley, large arm length adjustment mechanism
10 one end bends and stretches mechanism 9 with shoulder and is connected by the 3rd from synchronous pulley 41, and shoulder bends and stretches the 3rd driving joint in mechanism 9
20 driving the 3rd main synchronous pulleys 39 rotate, be driven by the 3rd synchronous belt 40, make large arm length adjustment mechanism 10 around the 3rd from
Synchronous pulley center rotating.Large arm rotating mechanism 11 is connected by large arm swivel plate 42 with large arm length adjustment mechanism 10, is used for
Adjust the position of large arm rotating mechanism 11.As shown in figure 5, ancon bends and stretches mechanism 12 with large arm rotating mechanism 11 by connecting on ancon
Fishplate bar 44 be connected, ancon upper junction plate 44 is connected with the 4th from synchronous pulley 47, the 4th from synchronous pulley 47 with being connected under ancon
Plate 49 is affixed, and the 5th driving joint 53 for being fixed in ancon upper junction plate 44 drives the 4th main synchronizing wheel 45 to rotate, and passes through the 4th
The transmission of synchronous belt 46 makes ancon lower connecting plate 44 around the 4th from 47 center rotating of synchronous pulley, the angle with ancon lower connecting plate 49
Variation, bends and stretches so as to complete ancon.Forearm rotating mechanism 13 bends and stretches mechanism 12 with ancon and is connected by ancon lower connecting plate 49, complete
Into the rotation of forearm.Forearm lengths adjusting mechanism 14 is connected with forearm rotating mechanism 13 by forearm swivel plate 54, for adjusting
The adjusting of forearm and hand position.As shown in fig. 6, wrist rotating mechanism 15 is connected with forearm lengths adjusting mechanism 14, wrist turns
The 7th driving joint 23 in motivation structure 15 is mounted on wrist connecting plate 55, by the 7th driving articulation, realizes wrist
Containing and arms sideward lift.As shown in fig. 7, wrist rotating mechanism 15 bends and stretches mechanism 16 with wrist passes through the 8th driving 24 phase of joint
Even, the 8th driving joint 24 is mounted on end connecting plate 56, and hand length adjustment mechanism 17 bends and stretches mechanism 16 with wrist and passes through
Hand connecting plate 57 is connected, and grip sensor 58 is connected with wrist length adjustment mechanism 17, passes through wrist length adjustment mechanism 17
The position of hand is adjusted, 24 center rotating of joint is driven around the 8th when the 8th driving joint 24 rotation drive grip sensor,
Realize the flexion and extension of wrist.
The technique effect of the present invention：Upper limb training device provided by the invention passes through nine degree of freedom and three length adjustments
Device when people sits up straight, can be realized individually to the rehabilitation exercise training in each joint at left and right sides of human upper limb, and can carried out
Position and the adjusting of distance.It is adaptable with multiple degrees of freedom, have a wide range of application, it is rational in infrastructure, it is efficient the features such as, meet
Applied widely in the market to the multiple degrees of freedom of exercising apparatus for recovery of upper limb, training position is independent, the demands such as easy to adjust.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features contact directly or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments described in this specification or example and different embodiments or exemplary feature
It closes and combines.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
The specific embodiment of present invention described above, is not intended to limit the scope of the present invention..Any basis
Various other corresponding changes and deformation made by the technical concept of the present invention, should be included in the guarantor of the claims in the present invention
In the range of shield.
Claims (13)
1. a kind of upper limb training device, which is characterized in that including：
Pedestal, elevating mechanism, rotating mechanism and rehabilitation training of upper limbs mechanism；
It is interconnected between the pedestal and elevating mechanism, and the relatively described elevating mechanism of the pedestal moves up and down；
The elevating mechanism is connected with the rotating mechanism；
The rehabilitation training of upper limbs mechanism is connected with the rotating mechanism, and the rehabilitation training of upper limbs mechanism is relative to the rotation
Mechanism is rotatable；
The rehabilitation training of upper limbs mechanism includes the shoulder rotating mechanism interconnected, and shoulder bends and stretches mechanism, large arm rotating mechanism,
Ancon bends and stretches mechanism, forearm rotating mechanism, and wrist rotating mechanism and wrist bend and stretch mechanism.
2. upper limb training device according to claim 1, which is characterized in that be provided on the pedestal driving device and
First main synchronous pulley and the first synchronous belt；
First synchronous belt is arranged on the described first main synchronous pulley；
The described first main synchronous pulley of driving device driving rotates；
The elevating mechanism includes：Crane, slideway and sliding block；
The pedestal is connected with the crane；
The installation of slide track is on crane；
The sliding block is slidably disposed in the slideway, and the sliding block is fixedly connected with first synchronous belt.
3. upper limb training device according to claim 2, which is characterized in that the driving device is motor.
4. upper limb training device according to claim 1, which is characterized in that be provided on the rotating mechanism described in driving
First driving joint of rotating mechanism rotation, the rotating mechanism are connected with elevating mechanism by the first driving joint.
5. upper limb training device according to claim 1, which is characterized in that be provided with second on the shoulder rotating mechanism
Joint and the second main synchronous pulley are driven, the shoulder rotating mechanism is connected with the rotating mechanism by the second driving arthrodesis
It connects.
6. upper limb training device according to claim 5, which is characterized in that is additionally provided on the shoulder rotating mechanism
Two from synchronous pulley and the second synchronous belt；
Second synchronous belt is arranged on the described second main synchronous pulley and second from synchronous pulley；
The shoulder bends and stretches mechanism and is connected with the shoulder rotating mechanism by described second from synchronous pulley；
The shoulder bends and stretches mechanism and can be rotated under the drive of second synchronous belt.
7. upper limb training device according to claim 6, which is characterized in that large arm length adjustment mechanism is further included, it is described
Shoulder bends and stretches mechanism and is connected with the large arm length adjustment mechanism；
The shoulder bends and stretches and the 3rd driving joint is additionally provided in mechanism, the 3rd main synchronous pulley, the 3rd from synchronous pulley and
3rd synchronous belt；
The 3rd main synchronous pulley is driven by the described 3rd driving joint；
3rd synchronous belt is arranged on the 3rd main synchronous pulley and the 3rd from synchronous pulley；
The large arm length adjustment mechanism bends and stretches mechanism with the shoulder and is connected by the 3rd from synchronous pulley；
The large arm length adjustment mechanism can rotate under the drive of the 3rd synchronous belt.
8. upper limb training device according to claim 7, which is characterized in that be provided with large arm on the large arm rotating mechanism
Swivel plate, the large arm rotating mechanism are connected by the large arm swivel plate with the large arm length adjustment mechanism.
9. upper limb training device according to claim 1, which is characterized in that the ancon, which is bent and stretched, is provided with ancon in mechanism
Upper junction plate, the 4th main synchronizing wheel, the 4th from synchronous pulley, the 4th synchronous belt, ancon lower connecting plate and the 5th driving joint；
4th synchronous belt is arranged on the 4th main synchronizing wheel and the described 4th on synchronous pulley；
The 5th driving joint can drive the 4th synchronizing wheel to rotate；
The ancon bends and stretches mechanism and is connected with large arm rotating mechanism by the ancon upper junction plate；
The ancon upper junction plate is connected with the described 4th from synchronous pulley；
Described 4th is fixedly connected from synchronous pulley with the ancon lower connecting plate.
10. upper limb training device according to claim 9, which is characterized in that forearm lengths adjusting mechanism is further included, it is described
Forearm swivel plate is provided on forearm rotating mechanism, the forearm lengths adjusting mechanism passes through forearm with the forearm rotating mechanism
Swivel plate is connected.
11. upper limb training device according to claim 1, which is characterized in that is provided on the wrist rotating mechanism
Seven driving joints and wrist connecting plate, the 7th driving joint are mounted on the wrist connecting plate.
12. upper limb training device according to claim 1, which is characterized in that the wrist, which is bent and stretched, is provided in mechanism
Eight driving joints, the wrist rotating mechanism bend and stretch mechanism with the wrist and are connected by the described 8th driving joint.
13. upper limb training device according to claim 12, which is characterized in that further include hand length adjustment mechanism；
The wrist, which is bent and stretched, is provided with hand connecting plate and grip sensor in mechanism；
The hand length adjustment mechanism bends and stretches mechanism with the wrist and is connected by hand connecting plate, the grip sensor with
The hand length adjustment mechanism is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611069947.3A CN108113844A (en) | 2016-11-29 | 2016-11-29 | A kind of upper limb training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611069947.3A CN108113844A (en) | 2016-11-29 | 2016-11-29 | A kind of upper limb training device |
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| CN108113844A true CN108113844A (en) | 2018-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611069947.3A Pending CN108113844A (en) | 2016-11-29 | 2016-11-29 | A kind of upper limb training device |
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| CN109846673A (en) * | 2019-03-11 | 2019-06-07 | 上海大学 | A kind of co-melting type both arms recovery exercising robot |
| CN110327179A (en) * | 2019-04-21 | 2019-10-15 | 上海健康医学院 | It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism |
| CN110680677A (en) * | 2019-10-22 | 2020-01-14 | 浙江树人学院（浙江树人大学） | Limb rehabilitation training device |
| CN111374861A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111374861A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN111374861B (en) * | 2018-12-28 | 2022-03-15 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN109846673A (en) * | 2019-03-11 | 2019-06-07 | 上海大学 | A kind of co-melting type both arms recovery exercising robot |
| CN109846673B (en) * | 2019-03-11 | 2020-05-15 | 上海大学 | Co-fusion type double-arm rehabilitation training robot |
| CN110327179A (en) * | 2019-04-21 | 2019-10-15 | 上海健康医学院 | It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism |
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| CN110680677A (en) * | 2019-10-22 | 2020-01-14 | 浙江树人学院（浙江树人大学） | Limb rehabilitation training device |
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Application publication date: 20180605 |